// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/**
 * @file EprosimaClient.cpp
 *
 */

#include "EprosimaClient.h"

#include "fastrtps/fastrtps_all.h"

EprosimaClient::EprosimaClient():
mp_operation_pub(nullptr),
mp_result_sub(nullptr),
mp_participant(nullptr),
mp_resultdatatype(nullptr),
mp_operationdatatype(nullptr),
m_operationsListener(nullptr),
m_resultsListener(nullptr),
m_isReady(false),
m_operationMatched(0),
m_resultMatched(0)
{
	m_operationsListener.mp_up = this;
	m_resultsListener.mp_up = this;

}

EprosimaClient::~EprosimaClient()
{
	Domain::removeParticipant(mp_participant);
	if(mp_resultdatatype!=nullptr)
		delete(mp_resultdatatype);
	if(mp_operationdatatype!=nullptr)
		delete(mp_operationdatatype);
	
}

bool EprosimaClient::init()
{


	//CREATE RTPSParticipant
	ParticipantAttributes PParam;
	PParam.rtps.defaultSendPort = 10042;
	PParam.rtps.builtin.domainId = 80;
	PParam.rtps.builtin.use_SIMPLE_EndpointDiscoveryProtocol = true;
	PParam.rtps.builtin.use_SIMPLE_RTPSParticipantDiscoveryProtocol = true;
	PParam.rtps.builtin.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
	PParam.rtps.builtin.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
	PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
	PParam.rtps.setName( "client_RTPSParticipant");
	mp_participant = Domain::createParticipant(PParam);
	if(mp_participant == nullptr)
		return false;

	//REGISTER TYPES
	mp_resultdatatype = new ResultDataType();
	mp_operationdatatype = new OperationDataType();
	Domain::registerType(mp_participant,mp_resultdatatype);
	Domain::registerType(mp_participant,mp_operationdatatype);

	// DATA PUBLISHER
	PublisherAttributes PubDataparam;
	PubDataparam.topic.topicDataType = "Operation";
	PubDataparam.topic.topicKind = NO_KEY;
	PubDataparam.topic.topicName = "Operations";
	PubDataparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
	PubDataparam.topic.historyQos.depth = 2;
	PubDataparam.topic.resourceLimitsQos.max_samples = 50;
	PubDataparam.topic.resourceLimitsQos.allocated_samples = 50;
	PubDataparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
	mp_operation_pub = Domain::createPublisher(mp_participant,PubDataparam,(PublisherListener*)&this->m_operationsListener);
	if(mp_operation_pub == nullptr)
		return false;
	//DATA SUBSCRIBER
	SubscriberAttributes SubDataparam;
	Locator_t loc;
	loc.port = 7555;
	PubDataparam.unicastLocatorList.push_back(loc);
	SubDataparam.topic.topicDataType = "Result";
	SubDataparam.topic.topicKind = NO_KEY;
	SubDataparam.topic.topicName = "Results";
	SubDataparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
	SubDataparam.topic.historyQos.depth = 100;
	SubDataparam.topic.resourceLimitsQos.max_samples = 100;
	SubDataparam.topic.resourceLimitsQos.allocated_samples = 100;
	mp_result_sub = Domain::createSubscriber(mp_participant,SubDataparam,(SubscriberListener*)&this->m_resultsListener);
	if(mp_result_sub == nullptr)
		return false;

	return true;
}

Result::RESULTTYPE EprosimaClient::calculate(Operation::OPERATIONTYPE type, int32_t num1,int32_t num2,int32_t* result)
{
	if(!m_isReady)
		return Result::SERVER_NOT_READY;
	m_operation.m_operationId++;
	m_operation.m_operationType = type;
	m_operation.m_num1 = num1;
	m_operation.m_num2 = num2;

	mp_operation_pub->write((void*)&m_operation);
	do{
		resetResult();
		mp_result_sub->waitForUnreadMessage();
		mp_result_sub->takeNextData((void*)&m_result,&m_sampleInfo);
	}while(m_sampleInfo.sampleKind !=ALIVE ||
			m_result.m_guid != m_operation.m_guid ||
			m_result.m_operationId != m_operation.m_operationId);
	if(m_result.m_resultType == Result::GOOD_RESULT)
	{
		*result = m_result.m_result;
	}
	return m_result.m_resultType;
}

void EprosimaClient::resetResult()
{
	m_result.m_guid = c_Guid_Unknown;
	m_result.m_operationId = 0;
	m_result.m_result = 0;
}

void EprosimaClient::OperationListener::onPublicationMatched(Publisher* pub,MatchingInfo& info)
{
	if(info.status == MATCHED_MATCHING)
	{
		mp_up->m_operationMatched++;
	}
	else
		mp_up->m_operationMatched--;
	mp_up->isReady();
}

void EprosimaClient::ResultListener::onSubscriptionMatched(Subscriber* sub,MatchingInfo& info)
{
	if(info.status == MATCHED_MATCHING)
	{
		mp_up->m_resultMatched++;
	}
	else
		mp_up->m_resultMatched--;
	mp_up->isReady();
}

void EprosimaClient::ResultListener::onNewDataMessage(Subscriber* sub)
{
}

bool EprosimaClient::isReady()
{
	if(m_operationMatched == 1 && m_resultMatched == 1)
		m_isReady = true;
	else
		m_isReady = false;
	return m_isReady;
}
